Spatial motion constraints: theory and demonstrations for robot guidance using virtual fixtures

Marayong, Panadda; Li, Ming; Okamura, Allison M.; Hager, Gregory D.

doi:10.1109/robot.2003.1241880

Cited by 88 publications

(82 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Virtual fixtures are a common shared control technique for manipulator arms that uses haptic feedback to help users control end effectors along specified paths, surfaces, or orientations [18].…”

Section: Related Workmentioning

confidence: 99%

Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input

You¹,

Hauser²

2011

Robotics: Science and Systems VII

View full text Add to dashboard Cite

Abstract-This paper studies assisted teleoperation techniques for controlling a 6DOF robot arm using click-and-drag input from a computer mouse. Experiments were conducted to investigate how task performance and user preferences are affected by low-level motion control strategies, which must deal with collision avoidance, dynamics constraints, and erroneous input. Five strategies were implemented and compared. As baseline strategies we study direct joint control and Cartesian positioning via inverse kinematics. We also implemented three obstacle avoidance strategies, including a predictive safety filter, a reactive potential field, and a real-time sample-based motion planner. Blind experimental trials assigned 22 novice subjects to five subgroups corresponding to each strategy and asked them to control the arm in simulation on a variety of reaching tasks in cluttered environments. Unsurprisingly, the obstacle avoidance strategies achieve major safety improvements, although subjects felt noticeably less in control of the robot than those using the baseline methods. The motion planning strategy shows the most promise; it completed tasks twice as fast as any other method and received high ratings for perceived safety, cooperativeness, and overall satisfaction.

show abstract

Section: Related Workmentioning

confidence: 99%

Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input

You¹,

Hauser²

2011

Robotics: Science and Systems VII

View full text Add to dashboard Cite

show abstract

“…Most early reported studies concentrated on system performance using VFs (9,10) or VF applications based on a predefined geometric surface or path. (11,12) More VF construction methods have been described in a recent survey. (5) Although these studies successfully implemented VFs, using VFs in a partially known and unstructured environment is still challenging.…”

Section: Introductionmentioning

confidence: 99%

Haptic Assisted Teleoperation Based on Virtual Fixture and Dynamic Modelling

2017

Sensors and Materials

View full text Add to dashboard Cite

It is a difficult task to teleoperate a robot in a partially known or unstructured environment without any assistance. In this paper, a haptic assisted teleoperation system is discussed that provides virtual fixtures for motion guidance and haptic feedbacks for dynamic interaction. First, a novel virtual fixture generation method based on a point-set implicit surface was proposed in a point cloud augmented virtual environment for human operational guidance. A robot-centered potential force field model was applied to generate guidance virtual fixtures. The resultant forces generated from both forbidden region and guidance virtual fixtures were fed back in real time to the human operator through a haptic device. Second, a real-time dynamic modelling method was proposed to reconstruct contacts in the teleoperation system. For the reconstruction of dynamic properties, an adaptive forgetting factor recursive least-squares method was applied for real-time parameter estimation. With haptic assistance from the motion guidance force and the dynamic force feedback, human operators could efficiently achieve targets and complete interactive tasks. The experimental results show that the proposed methods are effective for robot teleoperation.

show abstract

“…Kumar [1] developed an augmentation system for fine manipulation. Based on this system, recent research on motion constraints [2], [3], [4] has focused on simple techniques for "guidance virtual fixtures". This prior works focused on 2D geometric guidance motion of the tool tip or camera and assumed that the tool or camera itself did not have any other environmental constraints.…”

Section: Introductionmentioning

confidence: 99%

Optimum Robot Control for 3D Virtual Fixture in Constrained ENT Surgery

Taylor

2003

Lecture Notes in Computer Science

View full text Add to dashboard Cite

Abstract. In ENT surgery, the operating volume is very limited. This is especially true in sinus surgery, when the instrument passes through the sinus cavity to reach the pathological area. The sinus bones impose geometric constraints on the work volume. During the surgery, the surgeon needs to take care of the motion of the instrument tip to accomplish some delicate procedure; meanwhile he/she needs to avoid hitting anatomic constraints. In this paper, we present a method to assist the path following task in a constrained area. We project instrument tip motion, boundary information on the joint displacement via robot kinematics, and then use a constrained quadratic optimization algorithm to compute the optimal set of corresponding joint displacements. In the preliminary study, we show that the optimization constrained control can avoid collision with geometric constraints on the work volume, while keeping the precision of the tool motion.

show abstract

Spatial motion constraints: theory and demonstrations for robot guidance using virtual fixtures

Cited by 88 publications

References 11 publications

Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input

Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input

Haptic Assisted Teleoperation Based on Virtual Fixture and Dynamic Modelling

Optimum Robot Control for 3D Virtual Fixture in Constrained ENT Surgery

Contact Info

Product

Resources

About